Contract Balances - Summary of Changes in Allowance for Doubtful Accounts (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Allowance for Doubtful Accounts Receivable [Roll Forward]
Balance, beginning of period	$ 3,427	$ 4,522	$ 4,838
Accounts Receivable, Credit Loss Expense (Reversal)	1,073	2,650	2,772
Less: write-offs, net of recoveries and other adjustments	(742)	(3,745)	(3,088)
Balance, end of period	$ 3,758	$ 3,427	$ 4,522